Interfaz de usuario de un sistema multi-robot de reconocimiento de superficies con Google Earth

Els sistemes multi-robot de reconeixement de superfícies es poden utilitzar tant per a l'exploració de llocs remots, de difícil accés o perillosos. Normalment, els robots no són autònoms, depenen d'operadors humans per dirigir-los. La informació que capten ha de ser processada i mostrada a l'usuari o usuària del sistema de forma intel·ligible. Un exemple d'aplicació seria el d'un sistema multirobot format per diversos helicòpters no tripulats que proporciona informació d'una àrea que ha patit algun desastre. El sistema informàtic recolliria la informació i la transmetria al coordinador de l'operatiu d'assistència de l'emergència. La idea del projecte és la de combinar la informació proporcionada pel sistema multi-robot amb la de la zona disponible a Google Earth i fer d'aquesta eina l'interfície d'usuari de l'aplicació.

Análisis de prestaciones de procesadores multi-core y multi-thread

Los procesadores multi-core y el multi-threading por hardware permiten aumentar el rendimiento de las aplicaciones. Por un lado, los procesadores multi-core combinan 2 o más procesadores en un mismo chip. Por otro lado, el multi-threading por hardware es una técnica que incrementa la utilización de los recursos del procesador. Este trabajo presenta un análisis de rendimiento de los resultados obtenidos en dos aplicaciones, multiplicación de matrices densas y transformada rápida de Fourier. Ambas aplicaciones se han ejecutado en arquitecturas multi-core que explotan el paralelismo a nivel de thread pero con un modelo de multi-threading diferente. Los resultados obtenidos muestran la importancia de entender y saber analizar el efecto del multi-core y multi-threading en el rendimiento.

Early mother-child interaction and later quality of attachment in infants with an orofacial cleft compared to infants without cleft.

Objective : The main objective of this study was to assess mother-child patterns of interaction in relation to later quality of attachment in a group of children with an orofacial cleft compared with children without cleft. Design : Families were contacted when the child was 2 months old for a direct assessment of mother-child interaction and then at 12 months for a direct assessment of the child's attachment. Data concerning socioeconomical information and posttraumatic stress symptoms in mothers were collected at the first appointment. Participants : Forty families of children with a cleft and 45 families of children without cleft were included in the study. Families were recruited at birth in the University Hospital of Lausanne. Results : Results showed that children with a cleft were more difficult and less cooperative during interaction at 2 months of age with their mother compared with children without a cleft. No significant differences were found in mothers or in dyadic interactive styles. Concerning the child's attachment at 12 months old, no differences were found in attachment security. However, secure children with a cleft were significantly more avoidant with their mother during the reunion episodes than secure children without cleft. Conclusion : Despite the facial disfigurement and the stress engendered by treatment during the first months of the infant's life, children with cleft and their mothers are doing as well as families without cleft with regard to the mothers' mental health, mother-child relationships, and later quality of attachment. A potential contribution for this absence of difference may be the pluridisciplinary support that families of children with cleft benefit from in Lausanne.

Stable stationary states of non-local interaction equations

"Vegeu el resum a l'inici del document del fitxer adjunt."

Interaction between calcium intake and menarcheal age on bone mass gain: an eight-year follow-up study from prepuberty to postmenarche.

Both late menarcheal age and low calcium intake (Ca intake) during growth are risk factors for osteoporosis, probably by impairing peak bone mass. We investigated whether lasting gain in areal bone mineral density (aBMD) in response to increased Ca intake varies according to menarcheal age and, conversely, whether Ca intake could influence menarcheal age. In an initial study, 144 prepubertal girls were randomized in a double-blind controlled trial to receive either a Ca supplement (Ca-suppl.) of 850 mg/d or placebo from age 7.9-8.9 yr. Mean aBMD gain determined by dual energy x-ray absorptiometry at six sites (radius metaphysis, radius diaphysis, femoral neck, trochanter, femoral diaphysis, and L2-L4) was significantly (P = 0.004) greater in the Ca-suppl. than in the placebo group (27 vs. 21 mg/cm(2)). In 122 girls followed up, menarcheal age was recorded, and aBMD was determined at 16.4 yr of age. Menarcheal age was lower in the Ca-suppl. than in the placebo group (P = 0.048). Menarcheal age and Ca intake were negatively correlated (r = -0.35; P < 0.001), as were aBMD gains from age 7.9-16.4 yr and menarcheal age at all skeletal sites (range: r = -0.41 to r = -0.22; P < 0.001 to P = 0.016). The positive effect of Ca-suppl. on the mean aBMD gain from baseline remained significantly greater in girls below, but not in those above, the median of menarcheal age (13.0 yr). Early menarcheal age (12.1 +/- 0.5 yr): placebo, 286 +/- 36 mg/cm(2); Ca-suppl., 317 +/- 46 (P = 0.009); late menarcheal age (13.9 +/- 0.5 yr): placebo, 284 +/- 58; Ca-suppl., 276 +/- 50 (P > 0.05). The level of Ca intake during prepuberty may influence the timing of menarche, which, in turn, could influence long-term bone mass gain in response to Ca supplementation. Thus, both determinants of early menarcheal age and high Ca intake may positively interact on bone mineral mass accrual.

Effects of azadirachtin on Rhodnius prolixus: immunity and trypanosoma interaction

The effects of azadirachtin, a tetranortriterpenoid from the neem tree Aradirachta indica J. on both immunity and Trypanosoma cruzi interaction within Rhodniusprolixus and other triatomines, were presented Given through a blood meal, azadirachtin affected the immune reactivity as shown by a significant reduction in numbers of hemocytes and consequently nodule formation follwing challenge with Enterobacter cloacae ß12, reduction in ability to produce antibacterial activities in the hemolymph when injected with bacteria, and decreased ability to destroy the infection caused by inoculation of E. cloacae cells. A single dose of azadirachtin was able to block the development of T. cruzi in R. prolixus if given through the meal at different intervals, together with, before or after parasite infection. Similary, these results were observed with different triatomine species and different strains of T. cruzi. Azadirachtin induced a permanent resistance of the vector against reinfection with T. cruzi. The significance of these data is discussed in relation to the general mode of azadirachtin action in insects.

The Multiple-partners assignment game with heterogeneous sales and multi-unit demands: competitive equilibria

A multiple-partners assignment game with heterogeneous sales and multiunit demands consists of a set of sellers that own a given number of indivisible units of (potentially many different) goods and a set of buyers who value those units and want to buy at most an exogenously fixed number of units. We define a competitive equilibrium for this generalized assignment game and prove its existence by using only linear programming. In particular, we show how to compute equilibrium price vectors from the solutions of the dual linear program associated to the primal linear program defined to find optimal assignments. Using only linear programming tools, we also show (i) that the set of competitive equilibria (pairs of price vectors and assignments) has a Cartesian product structure: each equilibrium price vector is part of a competitive equilibrium with all optimal assignments, and vice versa; (ii) that the set of (restricted) equilibrium price vectors has a natural lattice structure; and (iii) how this structure is translated into the set of agents' utilities that are attainable at equilibrium.

Análisis multi-región input-output (MRIO) de emisiones de gases efecto invernadero (GEI) incorporado en el comercio. Un modelo birregional aplicado a Cataluña y el resto de España

El siguiente trabajo realiza un análisis regional y sectorial para el estudio de la emisiones de gases efecto invernadero (GEI) incorporadas en el comercio entre las regiones de Cataluña y el resto de España para el año 2001, estimando así el Balance Neto en GEI incorporado. El objetivo es el desarrollo de un metodología que nos permita realizar esta estimación de forma rigurosa, con la intención de efectuar un análisis comparativo de ambas estructuras productivas territoriales, en cuanto a la intensidad de emisión y el impacto de la demanda final de las regiones consideradas. Para este propósito se utiliza el marco metodológico del análisis input-output, en particular se aplica dos tipologías de modelos: el modelo básico o single-región y el multi-región, lo que nos permite la comparabilidad entre ambos, demostrando como el modelo MRIO (multi-región input-output) es el método más apropiado para dicho propósito, permitiendo, entre otras ventajas, analizar los vínculos interregionales e intersectoriales de las regiones consideradas. La incorporación de la técnica de la integración vertical o subsistemas, nos permite un enfoque alternativo para el Balance Neto resultante, no tenemos constancia de que este enfoque haya sido utilizado con anterioridad en los análisis MRIO aplicados al estudio de los impactos medioambientales incorporados en el comercio. Tampoco la tenemos sobre la aplicación de los MRIO de forma general para estos impactos a nivel interregional de la economía española. El principal resultado obtenido nos indica que aún teniendo Cataluña un importante superávit comercial con el resto de España, hemos comprobado la existencia de un importante déficit para la primera en cuanto a la polución incorporada en este comercio.

Improved enzyme-linked immunoadsorbent assay (ELISA) for the study of Trypanosoma cruzi-host cell interaction in vitro

We herein present an improved assay for detecting the presence of Trypanosoma cruzi in infected cultures. Using chagasic human sera (CHS), we were able to detect T. cruzi infection in primary cultures of both peritoneal macrophages and heart muscle cells (MHC). To avoid elevated background levels - hitherto observed in all experiments especially in those using HMC - CHS were preincubated with uninfected cells in monolayers or suspensions prior to being used for detection of T. cruzi in infected monolayers. Preincubation with cell suspensions gave better results than with monolayers, reducing background by up to three times and increasing sensitivity by to twenty times. In addition, the continous fibroplastic cell line L929 was shown to be suitable for preadsorption of CHS. These results indicate that the high background levels observed in previous reports may be due to the presence of human autoantibodies that recognize surface and/or extracellular matrix components in cell monolayers. We therefore propose a modified procedure that increases the performance of the ELISA method, making it an useful tool even in cultures that would otherwise be expected to present low levels of infection or high levels of background

Sialoglycoconjugates in Trypanosoma cruzi-host cell interaction: possible biological model - a review

A number of glycoconjugates, including glycolipids and glycoproteins, participate in the process of host-cell invasion by Trypanosoma cruzi and one of the most important carbohydrates involved on this interaction is sialic acid. It is known that parasite trans-sialidase participates with sialic acid in a coordinated fashion in the initial stages of invasion. Given the importance of these sialogycoconjugates, this review sets out various possible biological models for the interaction between the parasite and mammalian cells that possess a sialylated receptor/ligand system.